package org.usfirst.frc.team3501.robot.commands.shooter;
+import org.usfirst.frc.team3501.robot.Robot;
+import org.usfirst.frc.team3501.robot.subsystems.Shooter;
+
import edu.wpi.first.wpilibj.command.Command;
/**
- * This command will run the fly wheel motor continuously until the button
+ * This command runs the fly wheel continuously when OI button managing fly
+ * wheel is pressed. The command will run the fly wheel motor until the button
* triggering it is released.
*
- * pre-condition: This command must be run by a button in OI.
+ * Should only be run from the operator interface.
+ *
+ * pre-condition: This command must be run by a button in OI, with
+ * button.whileHeld(...).
*
- * @param motorVal
- * [-1,1]
- * @author shaina
+ * @author Shaina
*/
public class RunFlyWheelContinuous extends Command {
- private double motorVal;
-
- public RunFlyWheelContinuous(double motorVal) {
- this.motorVal = motorVal;
+ private Shooter shooter = Robot.getShooter();
+
+ /**
+ * See JavaDoc comment in class for details
+ *
+ * @param motorVal
+ * value range from -1 to 1
+ */
+ public RunFlyWheelContinuous() {
+ requires(shooter);
}
// Called just before this Command runs the first time
// Called repeatedly when this Command is scheduled to run
@Override
protected void execute() {
+ shooter.setFlyWheelMotorVal(shooter.CURRENT_SHOOTING_SPEED);
}
// Called once after isFinished returns true
@Override
protected boolean isFinished() {
- return false;
+ return !Robot.getOI().toggleFlyWheel.get();
}
}